DKIM: 'not authenticated' but 'verification successful'

Solution 1:

The message seems to come from here in OpenDIM

authtype = dkimf_getsymval(ctx, "{auth_type}");

...

if (authtype == NULL || authtype[0] == '\0')
{
    syslog(LOG_INFO, "%s: not authenticated",
           dfc->mctx_jobid);
}

I'm not 100% on where {auth_type} comes from, but I did find the following in Postfix milter docs

{auth_type} MAIL, DATA, EOH, EOM    SASL login method

All in all it seems there is a good chance it's just logging whether the client is authenticated against the SMTP server, which is unlikely (and expected) for inbound mail.